I am of the opinion that you should pull the final drive and inspect the drive shaft splines and pinion cup each time you change your rear tire. If your rear tire lasts longer than 10,000 miles, then you should do that inspection every 10k miles. I rarely have a tire last longer than 10k, so its convenient for me.
Once the rear wheel is off, you remove four nuts and slide it out. You should be loosening those nuts for re-assembly anyway.
Lubrication for shaft/pinion cup is Moly Grease.
Lubrication for Final Drive splines is Moly Paste.
Obviously there are other options for lubrication, but the above is what is recommended in the manual.
The reason this should be done was posted by John (Blackjack), in his report about riding to Alaska with his wife. In the middle of nowhere and the splines are shot! They might last 74k like John's, or they might last 20k...but why take the risk?

-Scott